EP0451061A1 - Remote-controlled motorized load engaging device - Google Patents

Remote-controlled motorized load engaging device Download PDF

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Publication number
EP0451061A1
EP0451061A1 EP91420063A EP91420063A EP0451061A1 EP 0451061 A1 EP0451061 A1 EP 0451061A1 EP 91420063 A EP91420063 A EP 91420063A EP 91420063 A EP91420063 A EP 91420063A EP 0451061 A1 EP0451061 A1 EP 0451061A1
Authority
EP
European Patent Office
Prior art keywords
load
gripping
motorized
compass
gripping device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP91420063A
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German (de)
French (fr)
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EP0451061B1 (en
Inventor
Hubert Bouillon
Claude Dessaux
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Manitowoc Crane Group France SAS
Original Assignee
Potain SA
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Publication of EP0451061A1 publication Critical patent/EP0451061A1/en
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Publication of EP0451061B1 publication Critical patent/EP0451061B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Definitions

  • the present invention relates to the field of load handling, in particular on building sites and public works. It relates to a motorized device for gripping heavy and bulky loads, such as formwork, prefabricated panels and slabs, the device being remotely controlled for its functions of securing and placing loads. This device is intended more particularly for cable lifting devices, such as tower cranes and mobile cranes.
  • the orientation and the centering of the gripping device are carried out manually, while the loading of the load is carried out by slinging, or automatically, by clamping, during the tensioning of the cable. lifting.
  • this type of operation always presents a bodily risk for the operator, whether by putting his hands on the moving parts, or simply by his presence, near the load being handled.
  • the centering requires a fairly precise prior positioning, and the final positioning is not adjustable; thus, these two gripping devices are not adaptable to the various loads to be handled on building sites and public works, which offer very different dimensions and sections from each other and which, because of their intrinsic resistance, must be equipped with at least two gripping accessories, the spacing of which can vary from 0.5 to 2.5 m.
  • the center of gravity of the load must also be positioned.
  • the present invention makes it possible to solve these difficulties, by providing a remote-controlled motorized load gripping device, intended more particularly for cable lifting devices, the general design of which automatically performs the functions of centering, gripping and locking, on any type of load with standardized gripping accessories and spacing, as well as the center of gravity positioning function.
  • the device according to the invention is designed to be associated with a motorized load rotation device, self-supplied with energy, such as that defined in French patent application n ° 89 10376, of July 18, 1989, in the name of the Applicant.
  • the device is thus suitable for the automatic handling of loads equipped with standardized gripping accessories.
  • the gripping device In the initial state, the gripping device is fully folded back on itself, and offers a minimum horizontal size, which allows it to access, in the best possible conditions, at the various points site intervention.
  • the two arms of the compass are each made up of a main beam of “V” shaped section, open towards the inside of said compass, and of a tie rod arranged inside the "V" section of the main beam, each of the branches forming a deformable parallelogram whose four vertices are represented by the articulations of the main beam and of the tie rod on the slide, and the articulations of these same elements on the support of the load taking mechanism.
  • the connecting rods are articulated in the middle of the main beams of the arms of the compass.
  • the gripping device thus has a light and not very thick articulated structure, however rigid, and ensuring good protection of the most fragile organs.
  • the main beams of "V" section protect the opening and closing motors of the compass, produced for example in the form of two identical double-acting cylinders, arranged symmetrically on either side of the guide column and connecting, by articulations, the lower part of the slide to the branches of said compass.
  • the deformable diamond structure, and the length chosen for the arms of the compass, equal to twice the side of the diamond, ensure the rigorous horizontality of the displacement of the free ends of these arms, therefore of the load-taking mechanisms.
  • the guide column comprises, at its upper part, a substantially horizontal console, serving as recovery support for a double-acting cylinder, the body of which is articulated in its middle on the upper part of the link arm, and the rod of which is articulated, at its end, to said console.
  • This arrangement ensures the positioning and correction of the center of gravity, as an additional motorized function of the device.
  • the link arm can be made up of two parallel beams arranged symmetrically, on either side of the articulated planar structure, the two beams being articulated on the base of the guide column and on the rotating hanger, and being connected between them by at least one spacer, arranged above the articulated connection with the body of the jack.
  • the mechanisms of load take-up consist of supports whose upper part takes up the articulations of the arms of the compass, while their base forms a casing which takes up the guiding, gripping and locking members of the load on the gripping accessories.
  • the guide members advantageously form two lateral branches of the casing, each consisting of a bore in which a partially fluted shaft journals, at the outlet of which is bent an angled rod serving as support for a guide ramp for the gripping accessories of the load, said splined shaft meshing with a rack piston which moves axially in a cylinder, and the stroke of which is determined to rotate the rod, from an internal horizontal position corresponding to a gripping of the load by closing the compass, until to an external horizontal position corresponding to a gripping of the load by opening the compass, passing through an intermediate vertical position for storage or rest, preferably indexed by an imprint of the splined shaft, in which is likely to be engaged , partially, a ball pushed by a spring.
  • a universal use gripping device is thus produced, which not only makes it possible to grip loads equipped with gripping accessories whose spacing can vary, for example, between 0.5 and 2.5 m, but also allows a entry of charges according to two modes, either from the inside or from the outside, the choice of entry mode being made in particular according to the environment.
  • the rest or storage position of the guide rods provided with the ramps protects these fairly vulnerable members when they do not intervene, and also makes it possible to then limit the size of the device.
  • the load gripping and locking members form the central part of the casing, consisting of a bore in which a partially grooved shaft journals, at the ends of which are fixed two pyramid-shaped locks capable of cooperating with openings of the load gripping accessories, said splined shaft meshing with a rack piston, which moves axially in a cylinder and whose stroke is determined to rotate the latches by 90 °, from an unlocked position, to a locked position, identified respectively by two detectors, for example magnetic, arranged at 90 ° from one another, around the periphery of the bore, and cooperating with a blind hole drilled in the body of the shaft grooved.
  • the gripping device object of the invention, generally designated by the reference 1, is intended to equip lifting devices, such as a tower crane 2 with a distributing jib 3.
  • the gripping device 1 is suspended from the jib 3 of the crane 2, by means of a lifting cable 4 forming a hauling 5, between a distribution carriage 6 and a muffle 7.
  • the lifting cable 4 is fixed at a point 8, at the head of arrow 3; at the other end, the cable 4 is wound on the drum of a winch 9, placed at the foot of the arrow 3.
  • the muffle 7 comprises a hanger 10, rotatably mounted around a vertical axis 11, and a motorization , for driving the hanger 10 in rotation around the vertical axis 11, as indicated by an arrow "F".
  • the gripping device 1 is suspended on the hanger 10, by means of a horizontal axis 12, and is equipped with the means necessary for ensuring automatic handling of a load 13 fitted with standardized gripping accessories 14.
  • the gripping device 1 is in the form of a planar articulated structure, situated in a substantially vertical plane and consisting of a compass 15, the two branches 16, 17 of which bear , at their respective lower ends, load-taking mechanisms 18, 19, and a set 20 of two connecting rods 21, 22, the first end of which is articulated at 23, 24 on the central part of the arms 16, 17 of the compass 15, while the other end is articulated at 25, 26 to the base 27 of a column 28, substantially vertical, along which a slide 29 moves in translation, forming the head of the compass 15.
  • the gripping device 1 also comprises a double link arm 30, connecting the base 27 of the column 28 to the hanger 10 of the muffle 7.
  • the arms 16, 17 of the compass 15 each consist of a main beam 31, 32, of section in the shape of a "V", open towards the interior of said compass 15, and of a tie rod 33, 34 arranged at the interior of the "V" of the main beam 31, 32; each of the branches 16, 17, forms a deformable parallelogram whose four vertices are represented by the articulations 35, 36, 37, 38 of the main beams 31, 32, and tie rods 33, 34 on the slide 29, and the articulations 39, 40, 41, 42 of these same elements 31, 32, 33, 34 on a support 43, 44, of the load taking mechanism 18, 19.
  • the compass 15 and the assembly 20 of the two connecting rods 21, 22 form a deformable diamond so that in operation, the load-taking mechanisms 18, 19 move in a substantially horizontal plane, containing the joints 25, 26 and 39 to 42.
  • the opening or closing of the compass 15 is ensured by two identical double-acting hydraulic cylinders 45, 46, arranged symmetrically on either side of the column 28, connecting by joints 47 , 48 on the one hand, and 49, 50 on the other hand, the lower part of the slide 29 with respective main beams 31, 32 of the arms 16, 17 of said compass 15.
  • a console 51 substantially horizontal, disposed in the plane of the articulated structure, and serving for the recovery of a hydraulic cylinder with double effect 52, the body 53 of which is connected in the middle by a hinge 54 to the upper part of the double link arm 30, and the rod 55 of which is articulated at 56 at the free end of the console 51.
  • the double-acting cylinder 52 provides angular movement of the link arm 30, about its articulation axis 57, on the base 27 of the column 28 for guiding the slide 29.
  • This link arm 30 consists of two side members parallel 58, arranged symmetrically on either side of the planar articulated structure of the gripping device 1, and rigidly connected, between the jack 52 and their articulation 12 on the hanger 10 of the block 7, by means of spacers 59.
  • each load-taking mechanism 18 or 19 consists of the support 43, the upper part of which takes up the joints 39, 41 of the branch 16 or 17 of the compass 15, while the base of this support forms a casing 60, which takes up the guiding, gripping and locking members of the load 13 on the gripping accessories 14.
  • the guide members form two lateral branches 61, 62 of the casing 60, while the gripping and locking members form the central part 63 of said casing 60.
  • the lateral branch 61 or 62 of the casing 60 consists of a bore 64, with an axis inclined to the horizontal, in which a partially fluted shaft 65 journals, at the outlet of which is bent a bent rod 66, serving as support to a guide ramp 67, for the gripping accessories 14.
  • FIG. 1 The lateral branch 61 or 62 of the casing 60, consists of a bore 64, with an axis inclined to the horizontal, in which a partially fluted shaft 65 journals, at the outlet of which is bent a bent rod 66, serving as support to a guide ramp 67, for the gripping accessories 14.
  • FIG. 7 shows the detail of the pivoting control of the rod 66; the splined shaft 65 meshes with a rack piston 68, moving axially in a cylinder 69, and the stroke of the piston 68 is determined to pivot the guide rod 66, from an extreme internal horizontal position, corresponding to a gripping of the load 13 by closing the compass 15, to an extreme horizontal external position, corresponding to a gripping of the load 13 by opening the compass 15, passing through an intermediate vertical position of rest, shown in FIG. 6.
  • the two guide members 61, 62 are offset in height, one with respect to the other, so that their guide rods 66, 67 can slide one under the other, c that is to say that those of the load taking mechanism 18 slide on those of the other load taking mechanism 19, when the gripping accessories 14 of the load 13 are separated by a short distance.
  • the splined shaft 65 has an imprint 70, in which is capable of engaging a ball 71, pressed by a spring 72, to maintain the guide rod 66 in the vertical rest position.
  • the central part 63 of the casing 60 consists of a bore 73, in which a partially grooved shaft 74 journals, at the ends of which are fixed two latches 75, 76, of pyramidal shape, capable of cooperating with openings of the gripping accessories 14 of the load 13.
  • the latches 74, 75 are controlled by a rack piston 77, meshing with the splined shaft 74, and moving axially in a cylinder 78.
  • the stroke of the piston 77 is determined to pivot the latches 75, 76 by 90 °, from an unlocked position shown in Figures 8 and 9, to a locked position shown in Figures 10 and 11.
  • Magnetic detectors 79, 80 arranged 90 ° from each other on the bore 73, make it possible to detect the locking and unlocking positions, when these magnetic detectors 79, 80 are located opposite a blind hole 81, drilled on the body of the shaft 74.
  • FIGS. 12 to 18 show different phases of operation of the gripping device according to the invention, for the automatic handling of a load 13 equipped with standardized gripping accessories 14.
  • the gripping device 1 in the initial state, is entirely folded back on itself and thus offers a minimum horizontal size which allows it to access, in the best possible conditions, at the various points of site intervention.
  • the lifting device such as the tower crane 2 of FIG. 1, performs the vacuum handling of the gripping device 1, installed at the rotary hanger 10 of the muffle 7, from which it receives its energy. and its control commands, the gripping device 1 using electro-hydraulic energy.
  • the gripping device 1 When the gripping device 1 arrives above the load 13, it is oriented approximately by the crane operator, as a function of the position of the gripping accessories 14, by controlling the rotation of the rotary hanger 10 of the muffle 7, and deployed by the control of the jacks 45, 46 for opening the compass 15.
  • the crane operator controls the movement of the rack pistons 68 to rotate the guide rods 66 from the vertical rest position to the interior horizontal position, as shown in FIG. 13.
  • the gripping plane is detected during the final slow descent of the gripping device 1 by the presence, in this plane, gripping accessories 14, advantageously provided with receiving means for their identification.
  • the crane operator controls the closing of the compass 15, as shown in FIG. 14.
  • the crane operator controls the movement of the pistons 77, in order to pivot the latches 75, 76 then introduced through the openings of the gripping accessories 14, and thus lock the load 13.
  • the guide rods 66 are returned to the vertical position, as shown in FIG. 15.
  • the crane operator ensures the search for the center of gravity of the load 13, by controlling the pivoting of the double link arm 30, via the cylinder 52, the control being able to be carried out by an inclinometer not shown (see FIG. 16).
  • the load 13 being well balanced, the crane operator then proceeds to handle this load 13, and to place it at the desired destination.
  • the crane operator proceeds to refocus the gripping device 1, and to detach the load 13, by performing the reverse maneuvers of those defined above.
  • Figures 17 and 18 illustrate the possibility of entering from the inside, and no longer from the outside, of a load 13 equipped with the same standardized gripping accessories 14.
  • the entry from the inside is carried out by opening the compass 15, while this compass is closed when entering from the outside.
  • a motorized device for gripping loads with remote control is thus produced, which automatically performs the functions of centering, gripping and locking, on any type of load 13 having gripping accessories 14, of standardized shape and spacing, as well as the center of gravity positioning function.
  • the device 1 allows the taking of loads 13 having an inclination on the horizontal, due to a bad leveling of the ground or a slope of the storage area, the adaptation to the possible inclination d 'A load being obtained by acting on the actuator 52 which controls the pivoting of the link arm 30. It may also be noted that this gripping device 1 can be used as a lifting beam, by providing attachment points for handling slings.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Jib Cranes (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The device comprises a gripper (15) whose arms (16, 17) hold at their free end an on-loading mechanism (18, 19) designed to engage a load (13) by gripping accessories (14). Two connecting rods (21, 22) constitute a deformable diamond with the upper part of the gripper (15). The lower ends of connecting rods (21, 22) are hinged to a shoulder (27) of a guide column (28) on which moves a slide (29) forming the head of the gripper (15). Two jacks (45, 46) control the opening and closing of the gripper (15). A connector arm (30) links the shoulder of column (28) to a turning grappling rope (10) and allows the center of gravity to be corrected by a jack (52). This gripping device is intended for use with raising devices such as turret slewing cranes.

Description

La présente invention se rapporte au domaine de la manutention des charges, notamment sur les chantiers du bâtiment et des travaux publics. Elle a pour objet un dispositif motorisé de préhension de charges lourdes et encombrantes, telles que banches, panneaux et dalles préfabriqués, le dispositif étant commandé à distance pour ses fonctions de saisissage et de pose des charges. Ce dispositif est destiné plus particulièrement aux appareils de levage à câble, tels que grues à tour et grues mobiles.The present invention relates to the field of load handling, in particular on building sites and public works. It relates to a motorized device for gripping heavy and bulky loads, such as formwork, prefabricated panels and slabs, the device being remotely controlled for its functions of securing and placing loads. This device is intended more particularly for cable lifting devices, such as tower cranes and mobile cranes.

Il est bien connu, pour ces appareils de levage, d'utiliser comme dispositif de préhension des crochets, des grappins, des griffes et des pinces de levage.It is well known, for these lifting devices, to use hooks, grabs, claws and lifting clamps as a gripping device.

Dans les réalisations les plus courantes, l'orientation et le centrage du dispositif de préhension s'effectuent manuellement, tandis que le saisissage de la charge s'effectue par élinguage, ou automatiquement, par serrage, lors de la mise en tension du câble de levage. Malgré les dispositifs de protection et les mesures de sécurité prévus, ce genre d'opérations présente toujours un risque corporel pour l'opérateur, que ce soit en portant les mains sur les pièces mobiles, ou que ce soit du simple fait de sa présence, à proximité de la charge manutentionnée.In the most common embodiments, the orientation and the centering of the gripping device are carried out manually, while the loading of the load is carried out by slinging, or automatically, by clamping, during the tensioning of the cable. lifting. Despite the protective devices and safety measures provided, this type of operation always presents a bodily risk for the operator, whether by putting his hands on the moving parts, or simply by his presence, near the load being handled.

Pour des applications particulières, il existe des dispositifs de préhension automatique, assurant également le centrage sur la charge à saisir, mais cette possiblité reste réduite. C'est le cas, par exemple, dans la réalisation décrite dans le brevet français n° 2 511 993, où la pince est équipée de deux butées mobiles facilitant son positionnement, par rapport à des rails à manutentionner. C'est également le cas dans la réalisation décrite dans le brevet français n° 2 210 563, où le dispositif de préhension comprend une cloche, agencée pour être accrochée à un engin de levage, dont la partie inférieure présente une embouchure en forme d'entonnoir renversé, se guidant sur un embout solidaire de la charge à manutentionner.For particular applications, there are automatic gripping devices, also ensuring centering on the load to be grasped, but this possibility remains reduced. This is the case, for example, in the embodiment described in French Patent No. 2,511,993, where the clamp is equipped with two movable stops facilitating its positioning, relative to the rails to be handled. This is also the case in the embodiment described in French patent No. 2 210 563, where the gripping device comprises a bell, arranged to be hooked to a lifting device, the lower part of which has a mouth in the form of funnel overturned, guided by a tip secured to the load to be handled.

Dans ces deux réalisations, le centrage exige un positionnement préalable assez précis, et le positionnement final n'est pas réglable ; ainsi, ces deux dispositifs de préhension ne sont pas adaptables aux diverses charges à manutentionner sur les chantiers du bâtiment et des travaux publics, qui offrent des dimensions et des sections très différentes les unes des autres et qui, du fait de leur résistance intrinsèque, doivent être équipées d'au moins deux accessoires de préhension, dont l'écartement peut varier de 0,5 à 2,5 m. Dans la manutention de ces charges, il faut également assurer le positionnement du centre de gravité de la charge.In these two embodiments, the centering requires a fairly precise prior positioning, and the final positioning is not adjustable; thus, these two gripping devices are not adaptable to the various loads to be handled on building sites and public works, which offer very different dimensions and sections from each other and which, because of their intrinsic resistance, must be equipped with at least two gripping accessories, the spacing of which can vary from 0.5 to 2.5 m. When handling these loads, the center of gravity of the load must also be positioned.

La présente invention permet de résoudre ces difficultés, en fournissant un dispositif motorisé de préhension de charge à commande à distance, destiné plus particulièrement aux appareils de levage à câble, dont la conception générale assure automatiquement les fonctions de centrage, de saisissage et de verrouillage, sur tout type de charge possédant des accessoires de préhension de forme et d'écartement standardisés, ainsi que la fonction de positionnement du centre de gravité.The present invention makes it possible to solve these difficulties, by providing a remote-controlled motorized load gripping device, intended more particularly for cable lifting devices, the general design of which automatically performs the functions of centering, gripping and locking, on any type of load with standardized gripping accessories and spacing, as well as the center of gravity positioning function.

Avantageusement, le dispositif selon l'invention est prévu pour être associé à un dispositif motorisé de rotation de charge, auto-alimenté en énergie, tel que celui défini dans la demande de brevet français n° 89 10376, du 18.07.89, au nom de la Demanderesse.Advantageously, the device according to the invention is designed to be associated with a motorized load rotation device, self-supplied with energy, such as that defined in French patent application n ° 89 10376, of July 18, 1989, in the name of the Applicant.

Le dispositif selon l'invention, est du type à structure plane articulée à axe vertical de symétrie formant un quadrilatère déformable, et il est caractérisé en ce qu'il comprend, en combinaison :

  • un compas, dont les branches portent, à leur extrémité libre, un mécanisme de prise en charge,
  • un ensemble de deux bielles, formant un losange déformable avec la partie supérieure du compas,
  • une colonne de guidage, sensiblement verticale, dont l'embase reçoit les extrémités inférieures des deux bielles, et sur laquelle se déplace un coulisseau formant la tête du compas,
  • un bras de liaison, reliant l'embase de la colonne de guidage à une suspente montée tournante autour d'un axe vertical,
  • des liaisons motorisées indépendantes, pour la commande d'ouverture et de fermeture du compas, de positionnement par pivotement du bras de liaison, de centrage et de verrouillage des mécanismes de prise de charge, et
  • des moyens d'alimentation en énergie et de contrôle / commande, notamment pour les liaisons motorisées.
The device according to the invention is of the type with an articulated plane structure with a vertical axis of symmetry forming a deformable quadrilateral, and it is characterized in that it comprises, in combination:
  • a compass, the branches of which bear, at their free end, a support mechanism,
  • a set of two connecting rods, forming a deformable diamond with the upper part of the compass,
  • a substantially vertical guide column, the base of which receives the lower ends of the two connecting rods, and on which a slide moves forming the head of the compass,
  • a link arm, connecting the base of the guide column to a hanger mounted to rotate about a vertical axis,
  • independent motorized links, for controlling the opening and closing of the compass, positioning by pivoting of the link arm, centering and locking of the load taking mechanisms, and
  • power supply and control / command means, in particular for motorized links.

Selon le principe de l'invention, le dispositif est ainsi adapté à la manutention automatique de charges équipées d'accessoires de préhension standardisés. A l'état initial, le dispositif de préhension est entièrement replié sur lui-même, et offre un encombrement horizontal minimal, qui lui permet d'accéder, dans les meilleures conditions possibles, aux divers points d'intervention du chantier.According to the principle of the invention, the device is thus suitable for the automatic handling of loads equipped with standardized gripping accessories. In the initial state, the gripping device is fully folded back on itself, and offers a minimum horizontal size, which allows it to access, in the best possible conditions, at the various points site intervention.

Dans une forme de réalisation de l'invention, les deux branches du compas son constituées, chacune, d'une poutre principale de section en forme de "V", ouverte vers l'intérieur dudit compas, et d'un tirant de liaison disposé à l'intérieur de la section en "V" de la poutre principale, chacune des branches formant un parallélogramme déformable dont les quatre sommets sont représentés par les articulations de la poutre principale et du tirant de liaison sur le coulisseau, et les articulations de ces mêmes éléments sur le support du mécanisme de prise de charge. De préférence, les bielles sont articulées au milieu des poutres principales des branches du compas.In one embodiment of the invention, the two arms of the compass are each made up of a main beam of “V” shaped section, open towards the inside of said compass, and of a tie rod arranged inside the "V" section of the main beam, each of the branches forming a deformable parallelogram whose four vertices are represented by the articulations of the main beam and of the tie rod on the slide, and the articulations of these same elements on the support of the load taking mechanism. Preferably, the connecting rods are articulated in the middle of the main beams of the arms of the compass.

Le dispositif de préhension selon l'invention présente ainsi une structure articulée légère et peu épaisse, cependant rigide, et assurant une bonne protection des organes les plus fragiles. En particulier, les poutres principales de section en "V" protègent les organes de motorisation d'ouverture et de fermeture du compas, réalisés par exemple sous la forme de deux vérins à double effet identiques, disposés symétriquement de part et d'autre de la colonne de guidage et reliant, par des articulations, la partie inférieure du coulisseau aux branches dudit compas. La structure en losange déformable, et la longueur choisie pour les branches du compas, égale au double du côté du losange, assurent l'horizontalité rigoureuse du déplacement des extrémités libres de ces branches, donc des mécanismes de prise de charge.The gripping device according to the invention thus has a light and not very thick articulated structure, however rigid, and ensuring good protection of the most fragile organs. In particular, the main beams of "V" section protect the opening and closing motors of the compass, produced for example in the form of two identical double-acting cylinders, arranged symmetrically on either side of the guide column and connecting, by articulations, the lower part of the slide to the branches of said compass. The deformable diamond structure, and the length chosen for the arms of the compass, equal to twice the side of the diamond, ensure the rigorous horizontality of the displacement of the free ends of these arms, therefore of the load-taking mechanisms.

Selon une autre caractéristique de l'invention, la colonne de guidage comporte, à sa partie supérieure, une console sensiblement horizontale, servant de support de reprise à un vérin à double effet, dont le corps est articulé en son milieu sur la partie supérieure du bras de liaison, et dont la tige est articulée, en son extrémité, à ladite console.According to another characteristic of the invention, the guide column comprises, at its upper part, a substantially horizontal console, serving as recovery support for a double-acting cylinder, the body of which is articulated in its middle on the upper part of the link arm, and the rod of which is articulated, at its end, to said console.

Cette disposition assure le positionnement et la correction du centre de gravité, comme une fonction motorisée supplémentaire du dispositif.This arrangement ensures the positioning and correction of the center of gravity, as an additional motorized function of the device.

Le bras de liaison peut être constitué de deux longerons parallèles disposés symétriquement, de part et d'autre de la structure plane articulée, les deux longerons étant articulés sur l'embase de la colonne de guidage et sur la suspente tournante, et étant reliés entre eux par au moins une entretoise, disposée au-dessus de la liaison articulée avec le corps du vérin.The link arm can be made up of two parallel beams arranged symmetrically, on either side of the articulated planar structure, the two beams being articulated on the base of the guide column and on the rotating hanger, and being connected between them by at least one spacer, arranged above the articulated connection with the body of the jack.

Selon un mode de réalisation de l'invention, les mécanismes de prise de charge sont constitués par des supports dont la partie supérieure reprend les articulations des branches du compas, tandis que leur base forme un carter qui reprend les organes de guidage, de saisissage et de verrouillage de la charge sur les accessoires de préhension.According to one embodiment of the invention, the mechanisms of load take-up consist of supports whose upper part takes up the articulations of the arms of the compass, while their base forms a casing which takes up the guiding, gripping and locking members of the load on the gripping accessories.

Les organes de guidage forment avantageusement deux branches latérales du carter, constituées chacune d'un alésage dans lequel tourillonne un arbre partiellement cannelé, à la sortie duquel est fixée une tige coudée servant de support à une rampe de guidage pour les accessoires de préhension de la charge, ledit arbre cannelé engrenant avec un piston à crémaillère qui se déplace axialement dans un cylindre, et dont la course est déterminée pour faire pivoter la tige, depuis une position horizontale intérieure correspondant à une préhension de la charge par fermeture du compas, jusqu'à une position horizontale extérieure correspondant à une préhension de la charge par ouverture du compas, en passant par une position verticale intermédiaire de rangement ou de repos, de préférence indexée par une empreinte de l'arbre cannelé, dans laquelle est susceptible d'être engagée, partiellement, une bille poussée par un ressort. On réalise ainsi un dispositif de préhension d'utilisation universelle, qui non seulement permet de saisir des charges équipées d'accessoires de préhension dont l'écartement peut varier, par exemple, entre 0,5 et 2,5 m, mais encore autorise une saisie des charges selon deux modes, soit par l'intérieur, soit par l'extérieur, le choix du mode de saisie étant fait notamment en fonction de l'environnement. De plus, la position de repos ou de rangement des tiges de guidage pourvues des rampes, assure la protection de ces organes assez vulnérables lorsqu'ils n'interviennent pas, et permet aussi de limiter alors l'encombrement du dispositif.The guide members advantageously form two lateral branches of the casing, each consisting of a bore in which a partially fluted shaft journals, at the outlet of which is bent an angled rod serving as support for a guide ramp for the gripping accessories of the load, said splined shaft meshing with a rack piston which moves axially in a cylinder, and the stroke of which is determined to rotate the rod, from an internal horizontal position corresponding to a gripping of the load by closing the compass, until to an external horizontal position corresponding to a gripping of the load by opening the compass, passing through an intermediate vertical position for storage or rest, preferably indexed by an imprint of the splined shaft, in which is likely to be engaged , partially, a ball pushed by a spring. A universal use gripping device is thus produced, which not only makes it possible to grip loads equipped with gripping accessories whose spacing can vary, for example, between 0.5 and 2.5 m, but also allows a entry of charges according to two modes, either from the inside or from the outside, the choice of entry mode being made in particular according to the environment. In addition, the rest or storage position of the guide rods provided with the ramps, protects these fairly vulnerable members when they do not intervene, and also makes it possible to then limit the size of the device.

Selon une disposition complémentaire, les organes de saisissage et de verrouillage de la charge forment la partie centrale du carter, constituée d'un alésage dans lequel tourillonne un arbre partiellement cannelé, aux extrémités duquel sont fixés deux verrous de forme pyramidale, susceptibles de coopérer avec des ouvertures des accessoires de préhension de la charge, ledit arbre cannelé engrenant avec un piston à crémaillère, qui se déplace axialement dans un cylindre et dont la course est déterminée pour faire pivoter les verrous de 90°, depuis une position non-verrouillée, à une position verrouillée, repérées respectivement par deux détecteurs, par exemple magnétiques, disposés à 90° l'un de l'autre, sur le pourtour de l'alésage, et coopérant avec un orifice borgne percé sur le corps de l'arbre cannelé.According to an additional arrangement, the load gripping and locking members form the central part of the casing, consisting of a bore in which a partially grooved shaft journals, at the ends of which are fixed two pyramid-shaped locks capable of cooperating with openings of the load gripping accessories, said splined shaft meshing with a rack piston, which moves axially in a cylinder and whose stroke is determined to rotate the latches by 90 °, from an unlocked position, to a locked position, identified respectively by two detectors, for example magnetic, arranged at 90 ° from one another, around the periphery of the bore, and cooperating with a blind hole drilled in the body of the shaft grooved.

De toute façon, l'invention sera mieux comprise, à l'aide de la description qui suit, en référence au dessin schématique annexé représentant, à titre d'exemple non limitatif, une forme d'exécution de ce dispositif motorisé de préhension de charge à commande à distance :

  • Figure 1 montre une grue à tour à flèche distributrice, équipée d'un dispositif de préhension, selon l'invention ;
  • Figure 2 est une vue d'ensemble, en perspective, du dispositif de préhension ;
  • Figure 3 est une vue latérale d'ensemble du même dispositif de préhension ;
  • Figure 4 est une vue détaillée du mécanisme de prise de charge de ce dispositif ;
  • Figure 5 est une vue en coupe, suivant V-V de la figure 4 ;
  • Figure 6 est une vue en coupe, suivant VI-VI de la figure 4 ;
  • Figure 7 est une vue en coupe partielle, suivant VII-VII de la figure 6 ;
  • Figures 8 et 9 montrent, en coupe, le système de verrouillage en position non verrouillée ;
  • Figures 10 et 11 montrent, en coupe, le système de verrouillage en position verrouillée ;
  • Figures 12 à 18 représentent, de façon schématique, différentes phases de fonctionnement du dispositif de préhension.
In any case, the invention will be better understood, with the aid of the description which follows, with reference to the appended schematic drawing representing, by way of nonlimiting example, an embodiment of this motorized load gripping device remote control:
  • Figure 1 shows a tower crane with distribution jib, equipped with a gripping device, according to the invention;
  • Figure 2 is an overall perspective view of the gripping device;
  • Figure 3 is an overall side view of the same gripping device;
  • Figure 4 is a detailed view of the charging mechanism of this device;
  • Figure 5 is a sectional view along VV of Figure 4;
  • Figure 6 is a sectional view along VI-VI of Figure 4;
  • Figure 7 is a partial sectional view along VII-VII of Figure 6;
  • Figures 8 and 9 show, in section, the locking system in the unlocked position;
  • Figures 10 and 11 show, in section, the locking system in the locked position;
  • Figures 12 to 18 show, schematically, different phases of operation of the gripping device.

Comme montré à la figure 1, le dispositif de préhension, objet de l'invention, désigné dans son ensemble par le repère 1, est destiné à équiper les appareils de levage, tels qu'une grue à tour 2 à flèche distributrice 3. Le dispositif de préhension 1 est suspendu à la flèche 3 de la grue 2, par l'intermédiaire d'un câble de levage 4 formant un mouflage 5, entre un chariot de distribution 6 et une moufle 7. A une extrémité, le câble de levage 4 est fixé en un point 8, en tête de la flèche 3 ; à l'autre extrémité, le câble 4 s'enroule sur le tambour d'un treuil 9, disposé en pied de la flèche 3. La moufle 7 comprend une suspente 10, montée tournante autour d'un axe vertical 11, et une motorisation, pour l'entraînement en rotation de la suspente 10 autour de l'axe vertical 11, comme indiqué par une flèche "F".As shown in FIG. 1, the gripping device, object of the invention, generally designated by the reference 1, is intended to equip lifting devices, such as a tower crane 2 with a distributing jib 3. The gripping device 1 is suspended from the jib 3 of the crane 2, by means of a lifting cable 4 forming a hauling 5, between a distribution carriage 6 and a muffle 7. At one end, the lifting cable 4 is fixed at a point 8, at the head of arrow 3; at the other end, the cable 4 is wound on the drum of a winch 9, placed at the foot of the arrow 3. The muffle 7 comprises a hanger 10, rotatably mounted around a vertical axis 11, and a motorization , for driving the hanger 10 in rotation around the vertical axis 11, as indicated by an arrow "F".

Le dispositif de préhension 1 est suspendu sur la suspente 10, au moyen d'un axe horizontal 12, et est équipé des moyens nécessaires pour assurer la manutention automatique d'une charge 13 équipée d'accessoires de préhension standardisés 14.The gripping device 1 is suspended on the hanger 10, by means of a horizontal axis 12, and is equipped with the means necessary for ensuring automatic handling of a load 13 fitted with standardized gripping accessories 14.

En se référant en particulier aux figures 2 et 3, le dispositif de préhension 1 se présente sous la forme d'une structure articulée plane, située dans un plan sensiblement vertical et constituée d'un compas 15, dont les deux branches 16, 17 portent, à leurs extrémités inférieures respectives, des mécanismes de prise de charge 18, 19, et d'un ensemble 20 de deux bielles 21, 22, dont la première extrémité est articulée en 23, 24 sur la partie centrale des branches 16, 17 du compas 15, tandis que l'autre extrémité est articulée en 25, 26 à l'embase 27 d'une colonne 28, sensiblement verticale, le long de laquelle se déplace en translation un coulisseau 29, formant la tête du compas 15.With particular reference to Figures 2 and 3, the gripping device 1 is in the form of a planar articulated structure, situated in a substantially vertical plane and consisting of a compass 15, the two branches 16, 17 of which bear , at their respective lower ends, load-taking mechanisms 18, 19, and a set 20 of two connecting rods 21, 22, the first end of which is articulated at 23, 24 on the central part of the arms 16, 17 of the compass 15, while the other end is articulated at 25, 26 to the base 27 of a column 28, substantially vertical, along which a slide 29 moves in translation, forming the head of the compass 15.

Le dispositif de préhension 1 comprend encore un double bras de liaison 30, reliant l'embase 27 de la colonne 28 à la suspente 10 de la moufle 7.The gripping device 1 also comprises a double link arm 30, connecting the base 27 of the column 28 to the hanger 10 of the muffle 7.

Les branches 16, 17 du compas 15 sont constituées chacune d'une poutre principale 31, 32, de section en forme de "V", ouverte vers l'intérieur dudit compas 15, et d'un tirant de liaison 33, 34 disposé à l'intérieur du "V" de la poutre principale 31, 32 ; chacune des branches 16, 17, forme un parallélogramme déformable dont les quatre sommets sont représentés par les articulations 35, 36, 37, 38 des poutres principales 31, 32, et des tirants de liaison 33, 34 sur le coulisseau 29, et les articulations 39, 40, 41, 42 de ces mêmes éléments 31, 32, 33, 34 sur un support 43, 44, du mécanisme de prise de charge 18, 19.The arms 16, 17 of the compass 15 each consist of a main beam 31, 32, of section in the shape of a "V", open towards the interior of said compass 15, and of a tie rod 33, 34 arranged at the interior of the "V" of the main beam 31, 32; each of the branches 16, 17, forms a deformable parallelogram whose four vertices are represented by the articulations 35, 36, 37, 38 of the main beams 31, 32, and tie rods 33, 34 on the slide 29, and the articulations 39, 40, 41, 42 of these same elements 31, 32, 33, 34 on a support 43, 44, of the load taking mechanism 18, 19.

Selon une caractéristique complémentaire, le compas 15 et l'ensemble 20 des deux bielles 21, 22 forment un losange déformable de telle façon qu'en fonctionnement, les mécanismes de prise de charge 18, 19 se déplacent dans un plan sensiblement horizontal, contenant les articulations 25, 26 et 39 à 42. L'ouverture ou la fermeture du compas 15 est assurée par deux vérins hydrauliques à double effet 45, 46 identiques, disposés symétriquement de part et d'autre de la colonne 28, reliant par des articulations 47, 48 d'une part, et 49, 50 d'autre part, la partie inférieure du coulisseau 29 aux poutres principales respectives 31, 32 des branches 16, 17 dudit compas 15.According to an additional characteristic, the compass 15 and the assembly 20 of the two connecting rods 21, 22 form a deformable diamond so that in operation, the load-taking mechanisms 18, 19 move in a substantially horizontal plane, containing the joints 25, 26 and 39 to 42. The opening or closing of the compass 15 is ensured by two identical double-acting hydraulic cylinders 45, 46, arranged symmetrically on either side of the column 28, connecting by joints 47 , 48 on the one hand, and 49, 50 on the other hand, the lower part of the slide 29 with respective main beams 31, 32 of the arms 16, 17 of said compass 15.

A l'extrémité supérieure de la colonne 28 de guidage du coulisseau 29, est fixée une console 51, sensiblement horizontale, disposée dans le plan de la structure articulée, et servant à la reprise d'un vérin hydraulique à double effet 52, dont le corps 53 est relié en son milieu par une articulation 54 à la partie supérieure du double bras de liaison 30, et dont la tige 55 est articulée en 56 à l'extrémité libre de la console 51.At the upper end of the column 28 for guiding the slide 29, is fixed a console 51, substantially horizontal, disposed in the plane of the articulated structure, and serving for the recovery of a hydraulic cylinder with double effect 52, the body 53 of which is connected in the middle by a hinge 54 to the upper part of the double link arm 30, and the rod 55 of which is articulated at 56 at the free end of the console 51.

Le vérin à double effet 52 assure un débattement angulaire du bras de liaison 30, autour de son axe d'articulation 57, sur l'embase 27 de la colonne 28 de guidage du coulisseau 29. Ce bras de liaison 30 est constitué de deux longerons parallèles 58, disposés symétriquement de part et d'autre de la structure plane articulée du dispositif de préhension 1, et reliés rigidement, entre le vérin 52 et leur articulation 12 sur la suspente 10 de la moufle 7, par l'intermédiaire d'entretoises 59.The double-acting cylinder 52 provides angular movement of the link arm 30, about its articulation axis 57, on the base 27 of the column 28 for guiding the slide 29. This link arm 30 consists of two side members parallel 58, arranged symmetrically on either side of the planar articulated structure of the gripping device 1, and rigidly connected, between the jack 52 and their articulation 12 on the hanger 10 of the block 7, by means of spacers 59.

Comme montré en détail aux figures 4 à 6, chaque mécanisme de prise de charge 18 ou 19 est constitué du support 43, dont la partie supérieure reprend les articulations 39, 41 de la branche 16 ou 17 du compas 15, tandis que la base de ce support forme un carter 60, qui reprend les organes de guidage, de saisissage et de verrouillage de la charge 13 sur les accessoires de préhension 14.As shown in detail in FIGS. 4 to 6, each load-taking mechanism 18 or 19 consists of the support 43, the upper part of which takes up the joints 39, 41 of the branch 16 or 17 of the compass 15, while the base of this support forms a casing 60, which takes up the guiding, gripping and locking members of the load 13 on the gripping accessories 14.

Les organes de guidage forment deux branches latérales 61, 62 du carter 60, tandis que les organes de saisissage et de verrouillage forment la partie centrale 63 dudit carter 60.The guide members form two lateral branches 61, 62 of the casing 60, while the gripping and locking members form the central part 63 of said casing 60.

La branche latérale 61 ou 62 du carter 60, est constituée d'un alésage 64, d'axe incliné sur l'horizontale, dans lequel tourillonne un arbre partiellement cannelé 65, à la sortie duquel est fixée une tige coudée 66, servant de support à une rampe de guidage 67, pour les accessoires de préhension 14. La figure 7 montre le détail de la commande de pivotement de la tige 66 ; l'arbre cannelé 65 engrène avec un piston à crémaillère 68, se déplaçant axialement dans un cylindre 69, et la course du piston 68 est déterminée pour faire pivoter la tige de guidage 66, depuis une position extrême horizontale intérieure, correspondant à une préhension de la charge 13 par fermeture du compas 15, jusqu'à une position extrême horizontale extérieure, correspondant à une préhension de la charge 13 par ouverture du compas 15, en passant par une position intermédiaire verticale de repos, montrée à la figure 6. Comme le montre aussi cette figure 6, les deux organes de guidage 61, 62, sont décalés en hauteur, l'un par rapport à l'autre, de telle sorte que leurs tiges de guidage 66, 67 puissent glisser les unes sous les autres, c'est-à-dire que celles du mécanisme de prise de charge 18 glissent sur celles de l'autre mécanisme de prise de charge 19, lorsque les accessoires de préhension 14 de la charge 13 sont séparés par une faible distance.The lateral branch 61 or 62 of the casing 60, consists of a bore 64, with an axis inclined to the horizontal, in which a partially fluted shaft 65 journals, at the outlet of which is bent a bent rod 66, serving as support to a guide ramp 67, for the gripping accessories 14. FIG. 7 shows the detail of the pivoting control of the rod 66; the splined shaft 65 meshes with a rack piston 68, moving axially in a cylinder 69, and the stroke of the piston 68 is determined to pivot the guide rod 66, from an extreme internal horizontal position, corresponding to a gripping of the load 13 by closing the compass 15, to an extreme horizontal external position, corresponding to a gripping of the load 13 by opening the compass 15, passing through an intermediate vertical position of rest, shown in FIG. 6. As the also shows this figure 6, the two guide members 61, 62, are offset in height, one with respect to the other, so that their guide rods 66, 67 can slide one under the other, c that is to say that those of the load taking mechanism 18 slide on those of the other load taking mechanism 19, when the gripping accessories 14 of the load 13 are separated by a short distance.

Selon une caractéristique complémentaire, l'arbre cannelé 65 possède une empreinte 70, dans laquelle est susceptible de s'engager une bille 71, pressée par un ressort 72, pour maintenir la tige de guidage 66 en position verticale de repos.According to an additional characteristic, the splined shaft 65 has an imprint 70, in which is capable of engaging a ball 71, pressed by a spring 72, to maintain the guide rod 66 in the vertical rest position.

La partie centrale 63 du carter 60 est constituée d'un alésage 73, dans lequel tourillonne un arbre partiellement cannelé 74, aux extrémités duquel sont fixés deux verrous 75, 76, de forme pyramidale, susceptibles de coopérer avec des ouvertures des accessoires de préhension 14 de la charge 13. La commande des verrous 74, 75 est réalisée par un piston à crémaillère 77, engrènant avec l'arbre cannelé 74, et se déplaçant axialement dans un cylindre 78. La course du piston 77 est déterminée pour faire pivoter les verrous 75, 76 de 90°, depuis une position non verrouillée représentée aux figures 8 et 9, jusqu'à une position verrouillée représentée aux figures 10 et 11. Des détecteurs magnétiques 79, 80, disposés à 90° l'un de l'autre sur l'alésage 73, permettent de détecter les positions de verrouillage et de déverrouillage, lorsque ces détecteurs magnétiques 79, 80 se trouvent en face d'un orifice borgne 81, percé sur le corps de l'arbre 74.The central part 63 of the casing 60 consists of a bore 73, in which a partially grooved shaft 74 journals, at the ends of which are fixed two latches 75, 76, of pyramidal shape, capable of cooperating with openings of the gripping accessories 14 of the load 13. The latches 74, 75 are controlled by a rack piston 77, meshing with the splined shaft 74, and moving axially in a cylinder 78. The stroke of the piston 77 is determined to pivot the latches 75, 76 by 90 °, from an unlocked position shown in Figures 8 and 9, to a locked position shown in Figures 10 and 11. Magnetic detectors 79, 80, arranged 90 ° from each other on the bore 73, make it possible to detect the locking and unlocking positions, when these magnetic detectors 79, 80 are located opposite a blind hole 81, drilled on the body of the shaft 74.

A titre d'exemple, on a représenté, sur les figures 12 à 18, différentes phases de fonctionnement du dispositif de préhension selon l'invention, pour la manutention automatique d'une charge 13 équipée d'accessoires de préhension standardisés 14.By way of example, FIGS. 12 to 18 show different phases of operation of the gripping device according to the invention, for the automatic handling of a load 13 equipped with standardized gripping accessories 14.

Comme montré à la figure 12, à l'état initial, le dispositif de préhension 1 est entièrement replié sur lui-même et offre ainsi un encombrement horizontal minimal qui lui permet d'accéder, dans les meilleures conditions possibles, aux divers points d'intervention du chantier. Dans cette configuration, l'appareil de levage, tel que la grue à tour 2 de la figure 1, assure la manutention à vide du dispositif de préhension 1, installé à la suspente tournante 10 de la moufle 7, de laquelle il reçoit son énergie et ses ordres de commande, le dispositif de préhension 1 utilisant une énergie électro-hydraulique.As shown in FIG. 12, in the initial state, the gripping device 1 is entirely folded back on itself and thus offers a minimum horizontal size which allows it to access, in the best possible conditions, at the various points of site intervention. In this configuration, the lifting device, such as the tower crane 2 of FIG. 1, performs the vacuum handling of the gripping device 1, installed at the rotary hanger 10 of the muffle 7, from which it receives its energy. and its control commands, the gripping device 1 using electro-hydraulic energy.

Lorsque le dispositif de préhension 1 arrive au-dessus de la charge 13, il est orienté approximativement par le grutier, en fonction de la position des accessoires de préhension 14, par la commande de la rotation de la suspente tournante 10 de la moufle 7, et déployé par la commande des vérins 45, 46 d'ouverture du compas 15.When the gripping device 1 arrives above the load 13, it is oriented approximately by the crane operator, as a function of the position of the gripping accessories 14, by controlling the rotation of the rotary hanger 10 of the muffle 7, and deployed by the control of the jacks 45, 46 for opening the compass 15.

Lorsque l'ouverture du dispositif de préhension 1 est suffisante, le grutier commande le déplacement des pistons à crémaillère 68, pour faire pivoter les tiges de guidage 66, depuis la position verticale de repos, jusqu'à la position horizontale intérieure, comme montré à la figure 13.When the opening of the gripping device 1 is sufficient, the crane operator controls the movement of the rack pistons 68 to rotate the guide rods 66 from the vertical rest position to the interior horizontal position, as shown in FIG. 13.

Grâce à un capteur 82, optique ou autre, disposé sous l'embase 27 de la colonne de guidage 28, on détecte, lors de la descente lente finale du dispositif de préhension 1, le plan de préhension par la présence, dans ce plan, des accessoires de préhension 14, munis avantageusement de moyens récepteurs pour leur identification.Thanks to a sensor 82, optical or other, placed under the base 27 of the guide column 28, the gripping plane is detected during the final slow descent of the gripping device 1 by the presence, in this plane, gripping accessories 14, advantageously provided with receiving means for their identification.

Le réglage en hauteur étant effectué, le grutier commande la fermeture du compas 15, comme montré à la figure 14.With the height adjustment made, the crane operator controls the closing of the compass 15, as shown in FIG. 14.

Pendant cette phase, les tiges de guidage 66 et les rampes 67 assurent automatiquement le centrage du dispositif de préhension 1 sur la charge 13. En fin de course, le centrage est assuré par des tôles 83 du carter 60 lui-même.During this phase, the guide rods 66 and the ramps 67 automatically center the gripping device 1 on the load 13. At the end of the race, the centering is ensured by sheets 83 of the casing 60 itself.

Lorsque le dispositif de centrage arrive en butée, le grutier commande le déplacement des pistons 77, pour faire pivoter les verrous 75, 76 alors introduits au travers des ouvertures des accessoires de préhension 14, et verrouiller ainsi la charge 13. Dans cette position, les tiges de guidage 66 sont remises en position verticale, comme montré à la figure 15. En outre, le grutier assure la recherche du centre de gravité de la charge 13, en commandant le pivotement du double bras de liaison 30, par l'intermédiaire du vérin 52, le contrôle pouvant être effectué par un inclinomètre non représenté (voir figure 16). La charge 13 étant bien équilibrée, le grutier procède alors à la manutention de cette charge 13, et à sa pose à l'endroit de destination voulu. Enfin, le grutier procède au recentrage du dispositif de préhension 1, et au décrochage de la charge 13, en procédant aux manoeuvres inverses de celles définies précédemment.When the centering device comes to a stop, the crane operator controls the movement of the pistons 77, in order to pivot the latches 75, 76 then introduced through the openings of the gripping accessories 14, and thus lock the load 13. In this position, the guide rods 66 are returned to the vertical position, as shown in FIG. 15. In addition, the crane operator ensures the search for the center of gravity of the load 13, by controlling the pivoting of the double link arm 30, via the cylinder 52, the control being able to be carried out by an inclinometer not shown (see FIG. 16). The load 13 being well balanced, the crane operator then proceeds to handle this load 13, and to place it at the desired destination. Finally, the crane operator proceeds to refocus the gripping device 1, and to detach the load 13, by performing the reverse maneuvers of those defined above.

Les figures 17 et 18 illustrent la possibilité de saisie par l'intérieur, et non plus par l'extérieur, d'une charge 13 équipée des mêmes accessoires de préhension standardisés 14. La saisie par l'intérieur s'effectue en ouvrant le compas 15, alors que ce compas est fermé lors de la saisie par l'extérieur.Figures 17 and 18 illustrate the possibility of entering from the inside, and no longer from the outside, of a load 13 equipped with the same standardized gripping accessories 14. The entry from the inside is carried out by opening the compass 15, while this compass is closed when entering from the outside.

On réalise ainsi un dispositif motorisé de préhension de charges à commande à distance, qui assure automatiquement les fonctions de centrage, de saisissage et de verrouillage, sur tout type de charge 13 possédant des accessoires de préhension 14, de forme et d'écartement standardisés, ainsi que la fonction de positionnement du centre de gravité. De plus, le dispositif 1 permet la prise de charges 13 présentant une inclinaison sur l'horizontale, du fait d'un mauvais nivellement du terrain ou d'une déclivité de l'aire de stockage, l'adaptation à l'inclinaison éventuelle d'une charge étant obtenue en agissant sur le vérin 52 qui commande le pivotement du bras de liaison 30. On peut encore noter que ce dispositif de préhension 1 peut être utilisé comme palonnier, en prévoyant des points d'accrochage pour des élingues de manutention.A motorized device for gripping loads with remote control is thus produced, which automatically performs the functions of centering, gripping and locking, on any type of load 13 having gripping accessories 14, of standardized shape and spacing, as well as the center of gravity positioning function. In addition, the device 1 allows the taking of loads 13 having an inclination on the horizontal, due to a bad leveling of the ground or a slope of the storage area, the adaptation to the possible inclination d 'A load being obtained by acting on the actuator 52 which controls the pivoting of the link arm 30. It may also be noted that this gripping device 1 can be used as a lifting beam, by providing attachment points for handling slings.

Bien entendu, l'invention ne se limite pas à la seule forme d'exécution de ce dispositif motorisé de préhension de charge à commande à distance, qui a été décrite ci-dessus, à titre d'exemple ; elle en embrasse, au contraire, toutes les variantes de réalisation et d'application, respectant les mêmes principes. En particulier, l'on ne s'éloignerait pas du cadre de l'invention :

  • en remplaçant les vérins et les pistons à crémaillère par d'autres dispositifs de commande électriques, hydrauliques ou pneumatiques, assurant la motorisation des fonctions du dispositif,
  • en modifiant des particularités constructives, telles que la position des vérins,
  • en destinant ce dispositif à des appareils de levage autres que des grues, même dépourvus de câble de levage,
  • en doublant les points de préhension, c'est-à-dire en adaptant le dispositif à la préhension de charges pourvues de deux paires d'accessoires de préhension.
Of course, the invention is not limited to the sole embodiment of this motorized device for gripping the load with remote control, which has been described above, by way of example; it embraces, on the contrary, all the variants of implementation and application, respecting the same principles. In particular, we would not depart from the scope of the invention:
  • replacing the cylinders and rack pistons with other electrical, hydraulic or pneumatic control devices, ensuring the motorization of the device's functions,
  • by modifying constructive features, such as the position of the cylinders,
  • by using this device for lifting devices other than cranes, even without lifting cables,
  • by doubling the gripping points, that is to say by adapting the device for gripping loads provided with two pairs of gripping accessories.

Claims (11)

Dispositif motorisé de préhension de charge à commande à distance, destiné plus particulièrement aux appareils de levage à câble et comprenant une structure plane articulée d'axe vertical de symétrie formant un quadrilatère déformable, caractérisé en ce qu'il comprend, en combinaison : - un compas (15), dont les deux branches (16, 17) portent, à leur extrémité libre, un mécanisme de prise de charge (18, 19), - un ensemble (20) de deux bielles (21, 22), formant un losange déformable avec la partie supérieure du compas (15), - une colonne de guidage (28), sensiblement verticale, dont l'embase (27) reçoit les extrémités inférieures des deux bielles (21, 22), et sur laquelle se déplace un coulisseau (29) formant la tête du compas (15), - un bras de liaison (30), reliant l'embase (27) de la colonne de guidage (28) à une suspente (10), montée tournante autour d'un axe vertical (11), - des liaisons motorisées indépendantes (45, 46, 52, 65, 68, 74, 77), pour la commande d'ouverture et de fermeture du compas (15), de positionnement par pivotement du bras de liaison (30), de centrage et de verrouillage des mécanismes de prise de charge (18, 19), et - des moyens d'alimentation en énergie et de contrôle / commande, notamment pour les liaisons motorisées. Motorized device for gripping the load with remote control, intended more particularly for cable lifting devices and comprising a flat articulated structure with a vertical axis of symmetry forming a deformable quadrilateral, characterized in that it comprises, in combination: - a compass (15), the two branches (16, 17) of which carry a load-taking mechanism (18, 19) at their free end, - a set (20) of two connecting rods (21, 22), forming a deformable diamond with the upper part of the compass (15), - A substantially vertical guide column (28), the base (27) of which receives the lower ends of the two connecting rods (21, 22), and on which a slide (29) moves forming the head of the compass (15) , - a link arm (30), connecting the base (27) of the guide column (28) to a hanger (10), rotatably mounted around a vertical axis (11), - independent motorized links (45, 46, 52, 65, 68, 74, 77), for controlling the opening and closing of the compass (15), positioning by pivoting of the link arm (30), centering and locking the load taking mechanisms (18, 19), and - power supply and control / command means, in particular for motorized links. Dispositif motorisé de préhension de charge, selon la revendication 1, caractérisé en ce que les deux branches (16, 17) du compas (15) sont constituées, chacune, d'une poutre principale (31, 32) de section en forme de "V" ouverte vers l'intérieur dudit compas (15), et d'un tirant de liaison (33, 34) disposé à l'intérieur de la section en "V" de la poutre principale (31, 32), chacune des branches (16, 17) formant un parallélogramme déformable, dont les quatre sommets sont représentés par les articulations (35, 36, 37, 38) de la poutre principale (31, 32) et du tirant de liaison (33, 34) sur le coulisseau (29) et les articulations (39, 40, 41, 42) de ces mêmes éléments (31, 32, 33, 34) sur le support (43, 44) du mécanisme de prise de charge (18, 19).Motorized load gripping device according to claim 1, characterized in that the two arms (16, 17) of the compass (15) each consist of a main beam (31, 32) of section in the shape of " V "open towards the inside of said compass (15), and of a tie rod (33, 34) arranged inside the" V "section of the main beam (31, 32), each of the branches (16, 17) forming a deformable parallelogram, the four vertices of which are represented by the articulations (35, 36, 37, 38) of the main beam (31, 32) and of the tie rod (33, 34) on the slide (29) and the joints (39, 40, 41, 42) of these same elements (31, 32, 33, 34) on the support (43, 44) of the load taking mechanism (18, 19). Dispositif motorisé de préhension de charge, selon la revendication 2, caractérisé en ce que les bielles (21, 22) sont articulées au milieu (23, 24) des poutres principales (31, 32) des branches (16, 17) du compas ( 15).Motorized load gripping device according to claim 2, characterized in that the connecting rods (21, 22) are articulated in the middle (23, 24) of the main beams (31, 32) of the arms (16, 17) of the compass ( 15). Dispositif motorisé de préhension de charge, selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les organes de motorisation d'ouverture et de fermeture du compas (15) sont réalisés sous la forme de deux vérins à double effet (45, 46) identiques, disposés symétriquement de part et d'autre de la colonne de guidage (28) et reliant, par des articulations (47, 48, 49, 50), la partie inférieure du coulisseau (29) aux branches (16, 17) dudit compas (15).Motorized load gripping device according to any one of claims 1 to 3, characterized in that the motorized members for opening and closing the compass (15) are produced in the form of two double-acting cylinders (45 , 46) identical, arranged symmetrically on either side of the guide column (28) and connecting, by articulations (47, 48, 49, 50), the lower part of the slide (29) to the branches (16, 17) of said compass (15). Dispositif motorisé de préhension de charge, selon l'une quelconque des revendications 1 à 4, caractérisé en ce que la colonne de guidage (28) comporte, à sa partie supérieure, une console (51) sensiblement horizontale servant de support de reprise à un vérin à double effet (52), dont le corps (53) est articulé en son milieu (54) sur la partie supérieure du bras de liaison (30), et dont la tige (55) est articulée en son extrémité (56) à ladite console (51 ).Motorized load gripping device according to any one of claims 1 to 4, characterized in that the guide column (28) comprises, at its upper part, a substantially horizontal console (51) serving as a recovery support for a double-acting cylinder (52), the body (53) of which is articulated in the middle (54) on the upper part of the link arm (30), and the rod (55) of which is articulated at its end (56) said console (51). Dispositif motorisé de préhension de charge, selon la revendication 5, caractérisé en ce que le bras de liaison (30) est constitué de deux longerons (58) parallèles, disposés symétriquement de part et d'autre de la structure plane articulée, les deux longerons (58) étant articulés (en 57) sur l'embase (27) de la colonne de guidage (28) et (en 12) sur la suspente tournante (10), et étant reliés entre eux par au moins une entretoise (59), disposée au-dessus de la liaison articulée (54) avec le corps (53) du vérin (52).Motorized load gripping device according to claim 5, characterized in that the link arm (30) consists of two parallel beams (58), arranged symmetrically on either side of the planar articulated structure, the two beams (58) being articulated (at 57) on the base (27) of the guide column (28) and (at 12) on the rotary hanger (10), and being interconnected by at least one spacer (59) , arranged above the articulated connection (54) with the body (53) of the jack (52). Dispositif motorisé de préhension de charge, selon l'une quelconque des revendications 1 à 6, caractérisé en ce que les mécanismes de prise de charge (18, 19) sont constitués par des supports (43, 44), dont la partie supérieure reprend les articulations (39, 40, 41, 42) des branches (16, 17) du compas (15), tandis que leur base forme un carter (60) qui reprend les organes (61 à 81) de guidage, de saisissage et de verrouillage de la charge (13) sur les accessoires de préhension (14).Motorized load gripping device according to any one of Claims 1 to 6, characterized in that the load taking mechanisms (18, 19) consist of supports (43, 44), the upper part of which takes up the joints (39, 40, 41, 42) of the arms (16, 17) of the compass (15), while their base forms a casing (60) which takes up the guiding, gripping and locking organs (61 to 81) of the load (13) on the gripping accessories (14). Dispositif motorisé de préhension de charge, selon la revendication 7, caractérisé en ce que les organes de guidage forment deux branches latérales (61, 62) du carter (60), constituées chacune d'un alésage (64), dans lequel tourillonne un arbre partiellement cannelé (65), à la sortie duquel est fixée une tige coudée (66) servant de support à une rampe de guidage (67) pour les accessoires de préhension (14) de la charge (13), ledit arbre cannelé (65) engrenant avec un piston à crémaillère (68), qui se déplace axialement dans un cylindre (69) et dont la course est déterminée pour faire pivoter la tige de guidage (66, 67), depuis une position horizontale intérieure correspondant à une préhension de la charge (13) par fermeture du compas (15), jusqu'à une position horizontale extérieure correspondant à une préhension de la charge par ouverture du compas (15), en passant par une position verticale intermédiaire de rangement ou de repos, de préférence indexée par une empreinte (70) de l'arbre cannelé (65), dans laquelle est susceptible d'être engagée partiellement une bille (71), poussée par un ressort (72).Motorized load gripping device according to claim 7, characterized in that the guide members form two lateral branches (61, 62) of the housing (60), each consisting of a bore (64), in which a shaft journals partially fluted (65), at the outlet of which is fixed a bent rod (66) serving to support a guide ramp (67) for the gripping accessories (14) of the load (13), said fluted shaft (65) meshing with a rack piston (68), which moves axially in a cylinder (69) and whose stroke is determined for pivoting the guide rod (66, 67), from an internal horizontal position corresponding to a gripping of the load (13) by closing the compass (15), to an external horizontal position corresponding to a gripping of the load by opening the compass (15), passing through an intermediate vertical storage or rest position, preferably indexed by an imprint (70) of the splined shaft (65), in which a ball may be partially engaged (71), pushed by a spring (72). Dispositif motorisé de préhension de charge, selon la revendication 8, caractérisé en ce que les organes de saisissage et de verrouillage de la charge (13) forment la partie centrale (63) du carter (60), constituée d'un alésage (73) dans lequel tourillonne un arbre partiellement cannelé (74), aux extrémités duquel sont fixés deux verrous (75, 76), de forme pyramidale, susceptibles de coopérer avec des ouvertures des accessoires de préhension (14) de la charge (13), ledit arbre cannelé (74) engrenant avec un piston à crémaillère (77), qui se déplace axialement dans un cylindre (78) et dont la course est déterminée pour faire pivoter les verrous (75, 76) de 90°, depuis une position non verrouillée à une position verrouillée, repérées respectivement par deux détecteurs par exemple magnétiques (79, 80), disposés à 90° l'un de l'autre sur le pourtour de l'alésage (73) et coopérant avec un orifice borgne (81) percé sur le corps de l'arbre cannelé (74).Motorized load gripping device according to claim 8, characterized in that the load gripping and locking members (13) form the central part (63) of the casing (60), consisting of a bore (73) in which a partially fluted shaft (74) journals, at the ends of which are fixed two latches (75, 76), of pyramidal shape, capable of cooperating with openings of the gripping accessories (14) of the load (13), said shaft grooved (74) meshing with a rack piston (77), which moves axially in a cylinder (78) and whose stroke is determined to rotate the latches (75, 76) by 90 °, from an unlocked position to a locked position, identified respectively by two, for example magnetic, detectors (79, 80), arranged at 90 ° from one another around the periphery of the bore (73) and cooperating with a blind hole (81) drilled on the body of the splined shaft (74). Dispositif motorisé de préhension de charge, selon la revendication 8 ou 9, caractérisé en ce que les organes de guidage (61, 62) sont décalés en hauteur, l'un par rapport à l'autre, de telle sorte que leurs tiges de guidage (66, 67) respectives puissent glisser les unes sous les autres, lorsque les accessoires de préhension (14) de la charge (13) sont séparés par une faible distance.Motorized load gripping device according to claim 8 or 9, characterized in that the guide members (61, 62) are offset in height, relative to each other, so that their guide rods (66, 67) respective can slide one under the other, when the gripping accessories (14) of the load (13) are separated by a small distance. Dispositif motorisé de préhension de charge, selon l'une quelconque des revendications 1 à 10, appliqué plus particulièrement à une grue à tour (2) à flèche distributrice (3), caractérisé en ce que la suspente tournante (10), sur laquelle est suspendu le dispositif de préhension (1), appartient à une moufle (7) pourvue d'un dispositif motorisé pour l'entraînement en rotation de la suspente (10) autour de l'axe vertical (11), notamment d'un dispositif motorisé auto-alimenté en énergie, le dispositif de préhension (1) recevant, de la suspente tournante (10), son énergie et ses ordres de commande.Motorized load gripping device according to any one of claims 1 to 10, applied more particularly to a tower crane (2) with a distributing jib (3), characterized in that the rotary hanger (10), on which is suspended the gripping device (1), belongs to a muffle (7) provided with a motorized device for the rotary drive of the hanger (10) around the vertical axis (11), in particular a motorized device self-supplied with energy, the gripping device (1) receiving, from the rotating hanger (10), its energy and its control commands.
EP91420063A 1990-03-12 1991-02-25 Remote-controlled motorized load engaging device Expired - Lifetime EP0451061B1 (en)

Applications Claiming Priority (2)

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FR9003841A FR2659311B1 (en) 1990-03-12 1990-03-12 MOTORIZED REMOTE CONTROL LOAD GRIPPING DEVICE.
FR9003841 1990-03-12

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EP0451061A1 true EP0451061A1 (en) 1991-10-09
EP0451061B1 EP0451061B1 (en) 1994-09-21

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EP (1) EP0451061B1 (en)
JP (1) JPH05229779A (en)
CN (1) CN1027688C (en)
AT (1) ATE111868T1 (en)
CS (1) CS61791A2 (en)
DE (1) DE69104101T2 (en)
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CS61791A2 (en) 1991-10-15
CN1027688C (en) 1995-02-22
ES2061212T3 (en) 1994-12-01
FR2659311A1 (en) 1991-09-13
CN1056291A (en) 1991-11-20
RU2067965C1 (en) 1996-10-20
FR2659311B1 (en) 1992-05-22
DE69104101D1 (en) 1994-10-27
EP0451061B1 (en) 1994-09-21
DE69104101T2 (en) 1995-01-26
ATE111868T1 (en) 1994-10-15
JPH05229779A (en) 1993-09-07
US5184860A (en) 1993-02-09

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